An industrial robot arm with improved efficiency and working method thereof

Abstract

The present invention relates to the field of mechanical gripper technology, and more particularly to an industrial robot mechanical arm with improved efficiency and a working method thereof, which comprises a mechanical gripper, a support frame and a rotating base, wherein the mechanical gripper is installed on the rotating base through the support frame, and the mechanical gripper comprises two mechanical grippers, which are arranged back to back with each other, and a guide mechanism is arranged on the support frame, and a transmission channel is formed on the guide mechanism, and the two ends of the transmission channel respectively guide to the bottom of the two mechanical grippers. The present invention can perform grasping operations at the same time by arranging two mechanical grippers facing back to back on the support frame, greatly improving the transportation efficiency of the production line and reducing the waiting time consumed by the rotation of the mechanical gripper; and by adjusting the shape and guidance of the first guide mechanism and the second guide mechanism through the cooperation of the fixed plate, the longitudinal guide groove and the limit rod, thereby reducing the moving distance of the mechanical gripper.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical grippers, and in particular to an industrial robot mechanical arm with improved efficiency and a working method thereof. Background Art

[0002] Industrial robots are machines that can automatically perform various industrial tasks. They are usually composed of mechanical structures, electronic control systems, and program control systems. Industrial robots perform precise and efficient operations on production lines, and can replace or assist human labor in completing repetitive, tedious, or dangerous tasks. The application range of industrial robots is very wide, including automobile manufacturing, electronic product assembly, metal processing, logistics warehousing and other fields. They can perform various tasks such as welding, assembly, handling, spraying, grinding, quality inspection, etc. Through programming and sensor technology, industrial robots can achieve highly flexible movements and precise operations, improving production efficiency, quality, and safety.

[0003] A robotic gripper is a mechanical device used to perform various tasks on a robotic arm, usually with a structure similar to that of a human arm. It consists of a series of articulated joints that can move in three dimensions and perform specific tasks. Robotic arms are widely used in industrial production lines, warehousing and logistics, medical surgery, space exploration and other fields. Industrial robotic grippers are often used in automated production lines for handling, assembly, welding, spraying and other processes. They can perform precise movements according to pre-set programs, improve production efficiency and reduce human errors.

[0004] In the prior art, mechanical grippers are used to grab and carry objects, and the functions of transport or assembly are achieved by grabbing objects from the production line to a certain place or lifting them to the installation point. Since the execution of the mechanical gripper is completed by the cooperation of various joints, the rotation and linkage after grabbing require a certain execution time, which leads to a decrease in the transmission efficiency of the production line coordinated with the mechanical gripper. Therefore, it is urgent to produce an industrial robot arm that can improve the grabbing efficiency and reduce the waiting time. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an industrial robot arm with improved efficiency and a working method thereof.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A mechanical arm of an industrial robot with improved efficiency comprises a mechanical gripper, a support frame and a rotating base, wherein the mechanical gripper is installed on the rotating base through the support frame, the mechanical gripper comprises two, and the two mechanical grippers are arranged back to back to each other, the support frame is provided with two groups of guide mechanisms driven by a motor, the guide mechanism comprises a conveyor belt and a driving roller arranged on the inner ring of the conveyor belt, the driving roller is mounted on the support frame and is connected to the motor transmission, the outer surface of the conveyor belt is provided with partition baffles at equal intervals, the two groups of guide mechanisms comprise a first guide mechanism and a second guide mechanism, the first guide mechanism is located above the second guide mechanism, the lateral length of the second guide mechanism is greater than the lateral length of the first guide mechanism, a transmission channel is formed between the first guide mechanism and the second guide mechanism, and the two ends of the transmission channel respectively guide to the bottom of the two mechanical grippers.

[0008] Furthermore, the support frame includes two groups of support plates arranged opposite to each other, the two driving rollers are transversely mounted between the two groups of support plates, and the first guide mechanism and the second guide mechanism are both installed between the two groups of support plates. The first guide mechanism and the second guide mechanism are provided with a frame for fixing them on the support plates, and under the fixation of the frame, the first guide mechanism and the second guide mechanism can be fixed and operated independently. The inner ring of the conveyor belt is provided with a toothed structure, and the driving roller is designed with a corresponding gear. The driving roller meshes with the toothed structure on the inner surface of the conveyor belt. Under the drive of the motor, the first guide mechanism and the second guide mechanism rotate synchronously. In addition, the distance between the two groups of support plates is not less than the width of the object.

[0009] Furthermore, the motor is arranged on the support plate on either side, the support plate is provided with an axial hole through which the output shaft of the power supply motor passes, a transmission belt is arranged on the output shaft of the motor, and the two ends of the transmission belt are respectively connected to the two driving rollers. The motor is fixedly mounted on the support plate through a frame plate, the output shaft of the motor passes through the axial hole and is meshed with the inner ring of the transmission belt, and the transmission belt rotates with the rotation of the motor.

[0010] Further, the two driving rollers include a first driving roller and a second driving roller, the first driving roller is located above the second driving roller, the upper inner ring of the transmission belt is geared with a guide wheel, the guide wheel is geared with the first driving roller, the second driving roller is geared with the lower inner ring of the transmission belt, and the first driving roller and the second driving roller rotate in opposite directions. Positioning rods are provided at both ends of the driving rollers, and a plug hole for limiting the positioning rod is provided on the support plate, and the positioning rods of the first driving roller and the second driving roller pass through the inner ring of the transmission belt and are installed between the two support plates. A rack is arranged around the positioning rod, wherein the rack on the first driving roller is located outside the transmission belt, and the rack on the second driving roller is located on the transmission belt and meshed with the inner ring of the transmission belt. One end of the guide wheel is fixed on the support plate, and the other end of the guide wheel passes through the inner ring of the transmission belt and meshes with the transmission belt. The guide wheel extends outward and also meshes with the positioning rod on the first driving roller, so that during the rotation of the transmission belt, the first driving roller rotates in the opposite direction.

[0011] Corresponding to the present application, when the output shaft of the motor rotates clockwise, the transmission belt, guide wheel and second drive roller rotate clockwise, and the first drive roller rotates counterclockwise, thereby guiding the first guide mechanism to rotate counterclockwise and the second guide mechanism to rotate clockwise, and the object placed between the first guide mechanism and the second guide mechanism is transferred from the left end to the right end; when the output shaft of the motor rotates counterclockwise, the transmission belt, guide wheel and second drive roller all rotate counterclockwise, and the first drive roller rotates clockwise, thereby guiding the first guide mechanism to rotate clockwise and the second guide mechanism to rotate counterclockwise, and the object placed between the first guide mechanism and the second guide mechanism is transferred from the right end to the left end.

[0012] Furthermore, two sets of the support plates are provided with two oppositely arranged fixing plates, and a plurality of longitudinal guide grooves are arranged at equal intervals on the fixing plates, and a limit rod connecting the two fixing plates is transversely arranged on the longitudinal guide groove. The fixing plate is a prismatic structure, which is adapted to the side shapes of the first guide mechanism and the second guide mechanism, and the fixing plate is fixedly mounted on the support plate, and a plurality of longitudinal guide grooves are arranged at equal intervals.

[0013] Furthermore, several of the limit rods are respectively arranged on the inner rings of the first guide mechanism and the second guide mechanism. Except for the longitudinal guide grooves on both sides, two limit rods are provided on the other longitudinal guide grooves, wherein the upper limit rod corresponds to passing through the inner ring of the first guide mechanism, and the lower limit rod corresponds to passing through the inner ring of the second guide mechanism. A limit rod is respectively arranged on the longitudinal guide grooves on both sides, and the two limit rods correspond to passing through the inner rings at both ends of the second guide mechanism. When adjusting the height of the limit rod, the two limit rods on the same longitudinal guide groove are synchronously raised or lowered, and the distance between the two limit rods is always kept the same, that is, the height of the object, so that the object can be transmitted between the first guide mechanism and the second guide mechanism. Taking the transmission channel tilted to the lower right as an example, the limit rods on the left side of the fixed plate are all raised upward, the limit rods on the right side of the fixed plate are all lowered downward, and the limit rods on each longitudinal guide groove are made to form a continuous oblique line on the plane, so that the transmission channel can be adjusted to an inclined structure. During the adjustment process, since the limit rod on the left and the limit rod on the right are adjusted synchronously in opposite directions, the supporting effect of the limit rod on the guide mechanism can be guaranteed, thereby ensuring the tension of the first guide mechanism and the second guide mechanism, so that objects can be normally limited and transported between the first guide mechanism and the second guide mechanism.

[0014] Furthermore, a hollow sleeve is provided on the limit rod, and locking mechanisms for fixing the limit rod to the fixed plate are provided at both ends of the limit rod. The limit rod is used to support the outer structure of the first guide mechanism and the second guide mechanism, so the limit rod will abut against the conveyor belt. In order to reduce the kinetic energy loss caused by sliding friction, a hollow sleeve is provided on the limit rod, and the friction loss can be reduced by the follow-up rotation of the hollow sleeve. Preferably, a threaded structure is provided at both ends of the limit rod, and the locking mechanism is threadedly connected to the threaded structure. After the limit rod is moved to the required position, the locking mechanisms at both ends of the limit rod are tightened to fix the limit rod to the required height on the fixed plate.

[0015] A method for operating an industrial robot arm with improved efficiency comprises the following steps:

[0016] S1: The rotating base is installed between two production lines or between a production line and an assembly line. One mechanical gripper performs the grasping operation, and the other mechanical gripper performs the release or assembly operation.

[0017] S2: After the mechanical gripper at the gripping end grabs the object on the production line, it moves the object between the first guide mechanism and the second guide mechanism, and confines the object between any two partition baffles;

[0018] S3: Start the motor, and the motor drives the first driving roller and the second driving roller to rotate through the guide wheel and the transmission belt. The two driving rollers rotate in opposite directions, so that the conveyor belts on adjacent sides move in the same direction, thereby driving the object to move in the set direction;

[0019] S4: If the heights of two production lines or between a production line and an assembly line are different, the guide orientation of the transmission channel can be adjusted by adjusting the position of any limit rod on the fixed plate.

[0020] Furthermore, in step S1, the movable range of the mechanical gripper covers the gripping range of the corresponding side production line or assembly line.

[0021] Furthermore, in step S4, the vertical width of the transmission channel is maintained to be no less than the height of the object during the adjustment process.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention can perform grasping operations simultaneously by arranging two mechanical grippers facing opposite directions on the support frame, and by arranging a guide mechanism on the support frame to guide the object from one end to the other end, which can greatly improve the transportation efficiency of the production line and reduce the waiting time consumed by the rotation of the mechanical grippers;

[0024] 2. The present invention adjusts the shape and guidance of the first guide mechanism and the second guide mechanism by arranging two relatively arranged fixing plates on the support plate, and arranging longitudinal guide grooves and a plurality of limit rods movable on the longitudinal guide grooves on the fixing plates, thereby reducing the moving distance of the mechanical gripper and improving the adaptability to the transfer site or assembly line;

[0025] 3. With the cooperation of the mechanical gripper and the guide mechanism, the present invention can reduce the activity distance of the mechanical gripper, reduce energy consumption and shorten time, thereby greatly improving production efficiency in the overall time process of multiple repetitive mechanical activities. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0027] Figure 2 It is a partial exploded schematic diagram of the support plate and the driving roller;

[0028] Figure 3 It is a schematic diagram of the assembly of the fixed plate and the support frame;

[0029] Figure 4 for Figure 3 Assembly diagram after adjusting the limit rod;

[0030] Figure 5 It is a schematic diagram of the structure of the limit rod;

[0031] Figure identification: 1-mechanical gripper, 2-support frame, 201-support plate, 3-rotating base, 4-motor, 5-conveyor belt, 6-driving roller, 7-partition baffle, 8-first guide mechanism, 9-second guide mechanism, 10-transmission channel, 11-axis hole, 12-transmission belt, 13-first driving roller, 14-second driving roller, 15-guide wheel, 16-fixed plate, 17-longitudinal guide groove, 18-limiting rod, 19-hollow sleeve, 20-locking mechanism. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0033] Embodiment 1, as Figure 1-4 As shown, the present invention discloses an industrial robot arm with improved efficiency, including a mechanical gripper 1, a support frame 2 and a rotating base 3, wherein the mechanical gripper 1 is installed on the rotating base 3 through the support frame 2, and the mechanical gripper 1 includes two mechanical grippers 1, which are arranged back to back to each other, and the support frame 2 is provided with two groups of guide mechanisms driven by a motor 4, wherein the guide mechanism includes a conveyor belt 5 and a driving roller 6 arranged on the inner ring of the conveyor belt 5, and the driving roller 6 is mounted on the support frame 2 and is connected to the motor 4 in transmission, and the outer surface of the conveyor belt 5 is provided with partition baffles 7 at equal intervals, and the two groups of the guide mechanisms include a first guide mechanism 8 and a second guide mechanism 9, wherein the first guide mechanism 8 is located above the second guide mechanism 9, and the lateral length of the second guide mechanism 9 is greater than the lateral length of the first guide mechanism 8, and a transmission channel 10 is formed between the first guide mechanism 8 and the second guide mechanism 9, and the two ends of the transmission channel 10 respectively guide to the bottom of the two mechanical grippers 1.

[0034] The support frame 2 includes two groups of support plates 201 arranged opposite to each other, the two driving rollers 6 are horizontally arranged between the two groups of support plates 201, and the first guide mechanism 8 and the second guide mechanism 9 are both installed between the two groups of support plates 201. Specifically, the first guide mechanism 8 and the second guide mechanism 9 are provided with a frame for fixing them on the support plate 201, and under the fixation of the frame, the first guide mechanism 8 and the second guide mechanism 9 can be fixed and operated independently. The inner ring of the conveyor belt 5 is provided with a toothed structure, and the driving roller 6 is designed with a corresponding gear. The driving roller 6 is meshed with the toothed structure on the inner surface of the conveyor belt 5. Under the drive of the motor 4, the first guide mechanism 8 and the second guide mechanism 9 rotate synchronously. In addition, the distance between the two groups of support plates 201 is not less than the width of the object.

[0035] The motor 4 is arranged on the support plate 201 on either side, and the support plate 201 is provided with an axial hole 11 through which the output shaft of the power supply machine 4 passes, and a transmission belt 12 is arranged on the output shaft of the motor 4, and the two ends of the transmission belt 12 are respectively connected to the two driving rollers 6. Specifically, the motor 4 is fixedly mounted on the support plate 201 through a frame plate, and the output shaft of the motor 4 passes through the axial hole 11 and is connected to the inner ring of the transmission belt 12, and when the motor 4 rotates, the transmission belt 12 rotates accordingly.

[0036] The two driving rollers 6 include a first driving roller 13 and a second driving roller 14, wherein the first driving roller 13 is located above the second driving roller 14, the upper inner ring of the transmission belt 12 is geared with a guide wheel 15, the guide wheel 15 is geared with the first driving roller 13, the second driving roller 14 is geared with the lower inner ring of the transmission belt 12, and the first driving roller 13 and the second driving roller 14 rotate in opposite directions. Specifically, positioning rods are provided at both ends of the driving roller 6, and a plug hole for limiting the positioning rods is provided on the support plate 201, and the positioning rods of the first driving roller 13 and the second driving roller 14 respectively pass through the inner ring of the transmission belt 12 and are installed between the two support plates 201. A rack is arranged around the positioning rod, wherein the rack on the first driving roller 13 is located outside the transmission belt 12, and the rack on the second driving roller 14 is located on the transmission belt 12 and meshed with the inner ring of the transmission belt 12. One end of the guide wheel 15 is fixed on the support plate 201, and the other end of the guide wheel 15 passes through the inner ring of the transmission belt 12 and is meshed with the transmission belt 12. The guide wheel 15 extends outward and is also meshed with the positioning rod on the first driving roller 13, so that when the transmission belt 12 rotates, the first driving roller 13 rotates in the opposite direction.

[0037] Corresponding to the present application, when the output shaft of the motor 4 rotates clockwise, the transmission belt 12, the guide wheel 15 and the second drive roller 14 rotate clockwise, and the first drive roller 13 rotates counterclockwise, thereby guiding the first guide mechanism 8 to rotate counterclockwise, and the second guide mechanism 9 to rotate clockwise, and the object placed between the first guide mechanism 8 and the second guide mechanism 9 is transferred from the left end to the right end. When the output shaft of the motor 4 rotates counterclockwise, the transmission belt 12, the guide wheel 15 and the second drive roller 14 all rotate counterclockwise, and the first drive roller 13 rotates clockwise, thereby guiding the first guide mechanism 8 to rotate clockwise, and the second guide mechanism 9 rotates counterclockwise, and the object placed between the first guide mechanism 8 and the second guide mechanism 9 is transferred from the right end to the left end.

[0038] Two sets of the support plates 201 are provided with two oppositely arranged fixing plates 16, and a plurality of longitudinal guide grooves 17 are arranged at equal intervals on the fixing plates 16, and a limit rod 18 connecting the two fixing plates 16 is transversely arranged on the longitudinal guide grooves 17. Specifically, the fixing plates 16 are prismatic structures, adapted to the side shapes of the first guide mechanism 8 and the second guide mechanism 9, and the fixing plates 16 are fixedly mounted on the support plates 201, and a plurality of longitudinal guide grooves 17 are arranged at equal intervals.

[0039] Several of the limit rods 18 are respectively passed through the inner rings of the first guide mechanism 8 and the second guide mechanism 9. Specifically, except for the longitudinal guide grooves 17 on both sides, other longitudinal guide grooves 17 are equipped with two limit rods 18, wherein the upper limit rod 18 passes through the inner ring of the first guide mechanism 8, and the lower limit rod 18 passes through the inner ring of the second guide mechanism 9. A limit rod 18 is respectively provided on the longitudinal guide grooves 17 on both sides, and the two limit rods 18 pass through the inner rings at both ends of the second guide mechanism 9. When the limit rods 18 are adjusted in height, the two limit rods 18 on the same longitudinal guide groove 17 are synchronously raised or lowered, and the distance between the two limit rods 18 is always kept the same, that is, the height of the object, so that the object can be transmitted between the first guide mechanism 8 and the second guide mechanism 9. Taking the transmission channel 10 tilted to the lower right as an example, the limit rods 18 on the left side of the fixed plate 16 are all raised upward, the limit rods 18 on the right side of the fixed plate 16 are all lowered downward, and the limit rods 18 on each longitudinal guide groove 17 are made to form a continuous oblique line on the plane, so that the transmission channel 10 can be adjusted to an inclined structure. During the adjustment process, since the limit rods 18 on the left side and the limit rods 18 on the right side are synchronously adjusted in the opposite direction, the support effect of the limit rods 18 on the guide mechanism can be guaranteed, thereby ensuring the tension of the first guide mechanism 8 and the second guide mechanism 9, so that the first guide mechanism 8 and the second guide mechanism 9 can be normally limited and transported. Preferably, a scale mark is set on the front of the longitudinal guide groove 17, and the distance between two adjacent limit rods 18 can be kept the same through the scale mark to ensure that the object is smoothly transmitted between the first guide mechanism 8 and the second guide mechanism 9.

[0040] like Figure 5As shown, a hollow sleeve 19 is sleeved on the limit rod 18, and locking mechanisms 20 for fixing the limit rod 18 on the fixed plate 16 are arranged at both ends of the limit rod 18. Specifically, the limit rod 18 is used to support the external structure of the first guide mechanism 8 and the second guide mechanism 9, so the limit rod 18 will abut against the conveyor belt 5. In order to reduce the kinetic energy loss caused by sliding friction, a hollow sleeve 19 is arranged on the limit rod 18, and the friction loss can be reduced by the follow-up rotation of the hollow sleeve 19. Preferably, a threaded structure is arranged at both ends of the limit rod 18, and the locking mechanism 20 is threadedly connected to the threaded structure. After the limit rod 18 is moved to the required position, the locking mechanisms 20 at both ends of the limit rod 18 are tightened, so that the limit rod 18 can be fixed at the required height on the fixed plate 16.

[0041] Embodiment 2: Based on Embodiment 1, this embodiment proposes a working method of an industrial robot arm with improved efficiency, comprising the following steps:

[0042] S1: The rotating base 3 is installed between two production lines or between a production line and an assembly line, one mechanical gripper 1 performs a grasping operation, and the other mechanical gripper 1 performs a releasing or assembling operation;

[0043] S2: After the mechanical gripper 1 at the grasping end grasps the object on the production line, it moves the object between the first guide mechanism 8 and the second guide mechanism 9, and confines the object between any two partition baffles 7; since the lateral length of the second guide mechanism 9 is greater than the lateral length of the first guide mechanism 8, the protruding part at the end of the second guide mechanism 9 is used to place the object on top, and through the operation of the second guide mechanism 9, the object is confined between the first guide mechanism 8 and the second guide mechanism 9, ensuring that the object will not fall or shift during the movement.

[0044] S3: Start the motor 4. The motor 4 drives the first drive roller 13 and the second drive roller 14 to rotate through the guide wheel 15 and the transmission belt 12. The two drive rollers 6 rotate in opposite directions, so that the conveyor belts 5 on the adjacent sides move in the same direction, thereby driving the object to move in the set direction. The rotation direction of the motor 4 determines the transmission direction of the object. When rotating clockwise, the object is transmitted from the left end to the right end, and when rotating counterclockwise, the object is transmitted from the right end to the left end.

[0045] S4: If the heights between the two production lines or between the production line and the assembly line are different, the guide orientation of the transmission channel 10 can be adjusted by adjusting the position of any limit rod 18 on the fixed plate. First, observe the height difference to determine the height difference between the two production lines or assembly lines, and then adjust the height through the limit rod 18 in the longitudinal guide groove 17. For example, when the transmission channel 10 needs to be adjusted to tilt to the lower right, the limit rod 18 on the left is raised upward and the limit rod 18 on the right is lowered downward. After adjusting to the appropriate position, the limit rod 18 is fixed to the required height on the fixed plate through the locking mechanism 20, and at the same time, the support effect of the limit rod 18 on the guide mechanism is ensured, and the tension between the first guide mechanism 8 and the second guide mechanism 9 is ensured so that the object can be transmitted normally.

[0046] In step S1, the range of motion of the mechanical gripper 1 covers the grasping range of the production line or assembly line on the corresponding side. Specifically, when installing the rotating base 3, it is necessary to ensure that the range of motion of the mechanical gripper 1 can completely cover the grasping range of the production line or assembly line on the corresponding side. At the same time, the mechanical gripper 1 has sufficient extension and rotation capabilities so that it can reach any position on the production line where objects need to be grasped. After installation and adjustment, a series of tests are performed to verify whether the mechanical gripper 1 can stably grasp and carry objects within its entire range of motion.

[0047] In step S4, the vertical width of the transmission channel 10 is maintained not less than the height of the object during the adjustment process. Specifically, first, the height of the object to be transmitted needs to be accurately measured to ensure that the vertical width of the transmission channel 10 is set reasonably. Then, according to the measured height of the object, the position of the limit rod 18 in the longitudinal guide groove 17 on the fixed plate 16 is adjusted. Ensure that the distance between the limit rods 18 is slightly larger than the height of the object to leave an appropriate gap to avoid damage or obstruction to the object during the transmission process. When adjusting the limit rods 18, ensure that all related limit rods 18 move synchronously to maintain the consistency of the vertical width of the transmission channel 10. After the adjustment is completed, perform multiple trial runs to check whether the object can move smoothly in the transmission channel 10 and whether there is no collision or jamming with the limit rod 18. If problems are found during the trial run, such as the object contacts the limit rod 18 or cannot pass smoothly, it is necessary to further fine-tune the position of the limit rod 18 until the transmission process is smooth and unobstructed.

[0048] The present application scheme can perform grasping operations simultaneously by arranging two mechanical grippers 1 facing oppositely on the support frame 2, and by arranging a guide mechanism on the support frame 2, the object can be guided from one end to the other end, which can greatly improve the transportation efficiency of the production line and reduce the waiting time consumed by the rotation of the mechanical gripper 1; and by arranging a longitudinal guide groove 17 and a plurality of limit rods 18 movable on the longitudinal guide groove 17 on the fixed plate 16, the shape and guidance of the first guide mechanism 8 and the second guide mechanism 9 can be adjusted, thereby reducing the moving distance of the mechanical gripper 1 in the vertical direction, improving the grasping efficiency and reducing the waiting time.

[0049] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. An industrial robot arm with improved efficiency, comprising a mechanical gripper (1), a support frame (2) and a rotating base (3), wherein the mechanical gripper (1) is mounted on the rotating base (3) via the support frame (2), and is characterized in that: The mechanical grippers (1) include two mechanical grippers (1), which are arranged back to back. The support frame (2) is provided with two groups of guide mechanisms driven by a motor (4). The guide mechanisms include a conveyor belt (5) and a driving roller (6) arranged on the inner ring of the conveyor belt (5). The driving roller (6) is mounted on the support frame (2) and is connected to the motor (4) in a transmission manner. The outer surface of the conveyor belt (5) is provided with partition baffles (7) at equal intervals. The two groups of guide mechanisms include a first guide mechanism (8) and a second guide mechanism (9). The first guide mechanism (8) is located above the second guide mechanism (9). The lateral length of the second guide mechanism (9) is greater than the lateral length of the first guide mechanism (8). A transmission channel (10) is formed between the first guide mechanism (8) and the second guide mechanism (9). The two ends of the transmission channel (10) respectively lead to the bottom of the two mechanical grippers (1). The support frame (2) comprises two groups of support plates (201) arranged opposite to each other, the two driving rollers (6) are transversely mounted between the two groups of support plates (201), the first guide mechanism (8) and the second guide mechanism (9) are both installed between the two groups of support plates (201), the motor (4) is arranged on the support plate (201) on either side, the support plate (201) is provided with an axial hole (11) through which the output shaft of the power supply machine (4) passes, the output shaft of the motor (4) is provided with a transmission belt (12), the two ends of the transmission belt (12) are respectively connected to the two driving rollers (6), the two driving rollers (6) comprise a first driving roller (13) and a second driving roller (14), the first driving roller (13) is located at Above the second driving roller (14), the upper inner ring of the transmission belt (12) is gear-connected with a guide wheel (15), the guide wheel (15) is gear-connected with the first driving roller (13), the second driving roller (14) is gear-connected with the lower inner ring of the transmission belt (12), the first driving roller (13) and the second driving roller (14) rotate in opposite directions, two sets of supporting plates (201) are provided with two oppositely arranged fixing plates (16), a plurality of longitudinal guide grooves (17) are arranged at equal intervals on the fixing plates (16), and a limiting rod (18) connecting the two fixing plates (16) is transversely arranged on the longitudinal guide groove (17), and a plurality of the limiting rods (18) are respectively penetrated through the inner rings of the first guide mechanism (8) and the second guide mechanism (9).

2. The industrial robot arm with improved efficiency according to claim 1, characterized in that: A hollow shaft sleeve (19) is sleeved on the limiting rod (18), and locking mechanisms (20) for fixing the limiting rod (18) to the fixing plate (16) are provided at both ends of the limiting rod (18).

3. A working method of an industrial robot arm with improved efficiency, applied to an industrial robot arm with improved efficiency as claimed in any one of claims 1 to 2, characterized in that: The following steps are involved: S1: The rotating base (3) is installed between two production lines or between a production line and an assembly line, one mechanical gripper (1) performs a grasping operation, and the other mechanical gripper (1) performs a releasing or assembling operation; S2: After the mechanical gripper (1) at the gripping end grabs the object on the production line, it moves the object between the first guide mechanism (8) and the second guide mechanism (9), and confines the object between any two partition baffles (7); S3: starting the motor (4), the motor (4) driving the first drive roller (13) and the second drive roller (14) to rotate via the guide wheel (15) and the transmission belt (12), the two drive rollers (6) rotating in opposite directions so that the conveyor belts (5) on adjacent sides move in the same direction, thereby driving the object to move in a set direction; S4: If the heights of the two production lines or the production line and the assembly line are different, the guide orientation of the transmission channel (10) is adjusted by adjusting the position of any limit rod (18) on the fixed plate (16).

4. The working method of an industrial robot arm with improved efficiency according to claim 3, characterized in that: In step S1, the movable range of the mechanical gripper (1) covers the gripping range of the corresponding side production line or assembly line.

5. The working method of an industrial robot arm with improved efficiency according to claim 3, characterized in that: In step S4, during the adjustment process, the vertical width of the transmission channel (10) is maintained to be no less than the height of the object.

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